CN110319838A - A kind of adaptive athletic posture frame of reference heave measurement method - Google Patents
A kind of adaptive athletic posture frame of reference heave measurement method Download PDFInfo
- Publication number
- CN110319838A CN110319838A CN201910612677.3A CN201910612677A CN110319838A CN 110319838 A CN110319838 A CN 110319838A CN 201910612677 A CN201910612677 A CN 201910612677A CN 110319838 A CN110319838 A CN 110319838A
- Authority
- CN
- China
- Prior art keywords
- sin
- cos
- ship
- acceleration
- heave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000386 athletic effect Effects 0.000 title claims abstract description 35
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 17
- 238000000691 measurement method Methods 0.000 title claims abstract description 11
- 230000001133 acceleration Effects 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 239000011159 matrix material Substances 0.000 claims abstract description 16
- 230000005484 gravity Effects 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 230000007704 transition Effects 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 15
- 238000005070 sampling Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 description 4
- 238000005553 drilling Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The present invention is to provide a kind of adaptive athletic posture frames of reference to heave measurement method.Athletic posture frame of reference is preheated, acquires the output signal of gyro and accelerometer on three axis in real time；Using the output of gyro and accelerometer, ship real-time attitude information is measured, then is made of the relational matrix of carrier coordinate system and geographic coordinate system posture information；The relational matrix of geographic coordinate system Yu semi-fixed axes system is obtained, the transition matrix between carrier coordinate system and semi-fixed axes system is obtained；Utilization orientation cosine matrix, the output of accelerometer and acceleration of gravity information obtain slightly heaving acceleration；The dominant frequency of wave and the average height of ocean wave motion are obtained using thick heave acceleration；The optimal solution of heave filter cutoff frequency is obtained using the dominant frequency of wave and the average height of ocean wave motion；Wave device is filtered the heave displacement information for obtaining k-th of sampled point to the thick heave acceleration of ship.The present invention improves the operability of ship.
Description
Technical field
The present invention relates to a kind of heave measurement methods of athletic posture frame of reference.
Background technique
Athletic posture frame of reference is the posture heading system that can measure ship heave movement parameter.Different from classics
Inertial reference calculation, athletic posture frame of reference pass through using low cost microelectromechanical systems carry out movement parameter measurement, reality
When export the drift 3 d pose indicated with quaternary number, Eulerian angles etc. and linear displacement data.Athletic posture frame of reference has
Many advantages, such as manufacturing cost low performance is good, as its application range is gradually expanded in the continuous development of micro-electronic mechanical skill.
When ship's navigation, due to being influenced by environmental factors such as stormy waves, also due to various the pushing away of ship caused by propeller, rudder itself
Power and control action, can generate complexity sways movement.Ship sways movement and thus caused some dynamic effects pair
Ship navigation performance and practical performance bring undesirable influence.In the six-freedom degree of ship sways, in orientation axis direction
Heave movement compare swaying, surging for seem even more important.The introducing of heave information also helps drilling platforms heave and mends
Repay many aspects such as device design, ship supply.Therefore it is real-time, smart to study a kind of realization suitable for athletic posture frame of reference
True heave information measurement is necessary.
But in the article delivered, as in Sun Wei, Sun Feng, Yang Lin of " Journal of System Simulation " the 4th phase of volume 25
Using addition infinite impulse response digital high-pass in one " the instantaneous line motion measuring method research of ship under dynamic environment " article
The method of filter filters out the Schuler period signal of low frequency and solves the problems, such as vertical informational divergence, with Doppler log group
It closes, the accurate estimation to attitude of ship angle error is realized using Kalman filtering, to improve instantaneous line motion measurement precision.
But without solve the problems, such as due to using infinite impulse response digital high-pass filter bring output information phase it is advanced, from
And it cannot achieve the real-time measurement of heave information.
There are also Yan Gongmin, Su Xingjun, Weng Jun, Qin Yongyuan delivered on " navigator fix journal " " based on inertial navigation and without when
Prolong the ship heave measurement of filter " heave measurement is carried out using no Time-Delay Filter in article, solve phase error
The problem of, but there are low cuts compared with the slow and longer disadvantage of convergence time.Wang Yunfeng " ship shakes in length and breadth and heave movement
Forecasting procedure research " it uses and ship is shaken and heaved in length and breadth based on two methods of Kalman filtering method and application time serial method
Movement is forecast, but only realizes short-period forecast, and with the growth of time, forecast precision be will be greatly reduced, and is not suitable for length
The heave information measurement of time.
The article delivered above is all described and has been probed into heave measurement, but is not reached in marine motor shape
The requirement of the accurate heave measurement of adaptive realization in the case that state is unknown, therefore study a kind of adaptive heave measurement side
Method has innovative and Practical Project value.
Summary of the invention
The purpose of the present invention is to provide a kind of adaptive heave measurements that can be realized athletic posture frame of reference
Adaptive athletic posture frame of reference heaves measurement method.
The object of the present invention is achieved like this:
Step 1 preheats athletic posture frame of reference, and acquires the defeated of gyro and accelerometer on three axis in real time
Signal out；
Step 2 utilizes the output signal of gyro and accelerometer, measurement ship real-time attitude information, the real-time attitude
Information includes pitch angle θ, roll angle γ, yaw angle ψ, then the pass of carrier coordinate system b Yu geographic coordinate system n are made of posture information
It is matrix
Wherein
U11=cos γ cos ψ+sin γ sin ψ sin θ
U12=sin ψ cos θ
U13=sin γ cos ψ-cos γ sin ψ sin θ
U21=-cos γ sin ψ+sin γ cos ψ sin θ
U22=cos ψ cos θ
U23=-sin γ sin ψ-cos γ cos ψ sin θ
U31=-sin γ cos θ
U32=sin θ
U33=cos γ cos θ
Step 3, the ship track set when being manipulated from ship's navigation are to the angle with geographical north orientation, the i.e. base course of ship
Angle ζ obtains the relational matrix of geographic coordinate system n Yu semi-fixed axes system d
And then obtain the transition matrix i.e. direction cosine matrix between carrier coordinate system b and semi-fixed axes system d
Step 4, athletic posture frame of reference utilize the direction cosine matrix in step 3The output f of accelerometerb
(k) and acceleration of gravity information g (k), be calculated on semi-fixed axes system d, k-th of sampled point when, ship acceleration
InformationThe acceleration information is decomposed into the acceleration in semi-fixed axes system x-axisSemi-fixed axes system y-axis
Upper accelerationAcceleration in semi-fixed axes system z-axis
Wherein: gdFor earth surface acceleration of gravity semi-fixed axes system projection；
Step 5. obtains step 4It, will as the thick heave acceleration of shipCarry out Fourier transformation
It obtainsTake so thatDominant frequency ω of the frequency values corresponding to maximum absolute value as wavep
WhereinIt indicates so that absolute value obtains ω corresponding to maximum value；
The thick heave acceleration for the ship that step 6. is obtained using step 4The dominant pilot of the wave obtained with step 5
Rate ωpMeasure the average height A of ocean wave motion:
Wherein m=1,2 ..., k；Indicate that ship when m-th of sampled point slightly heaves acceleration information；ωpIt indicates
The dominant frequency of wave in sampling time；It is obtained in m-th of sampled point by the process measurement of step 4 to step 5
And it is saved；
The dominant frequency ω for the wave that step 7. is obtained using step 5pThe average height of the ocean wave motion obtained with step 6
The noise variance σ of A and sensor2The optimal solution of heave filter cutoff frequency is calculatedFor
Wherein σ2It is the noise variance of sensor；
Step 8. heaves filter H (k) and is filtered k-th of sampled point of acquisition to the thick heave acceleration of ship
It heaves displacement information p (k):
The present invention may also include:
Heave filter H (k) described in 1.
WhereinFor the optimal solution for the cutoff frequency that step 7 obtains, h is the sampling period of athletic posture frame of reference.
2. the sampling period is 0.01 second, stablize 3 minutes after the preheating of athletic posture frame of reference.
3. the sampling period is 0.005 second, stablize 2 minutes after the preheating of athletic posture frame of reference.
4. the sampling period is 0.1 second, stablize 20 minutes after the preheating of athletic posture frame of reference.
Advantages of the present invention is mainly reflected in:
Heave for athletic posture frame of reference measures problem, and the present invention provides a kind of adaptive heave measurement sides
Method, adaptive realization accurately heaves measurement in the case where marine motor Status unknown.
Detailed description of the invention
Fig. 1 is flow chart of the invention.
Fig. 2 is the heave movement simulation result table of different frequency.
Specific embodiment
It illustrates below and the present invention is described in more detail.
Step 1 is fully warmed-up athletic posture frame of reference, and acquires the defeated of gyro and accelerometer on three axis in real time
Signal out；
Step 2 utilizes the output of gyro and accelerometer, measurement ship real-time attitude information, the real-time attitude information
Including pitch angle θ, roll angle γ, yaw angle ψ, then it is made of posture information the relationship square of carrier coordinate system b Yu geographic coordinate system n
Battle array
Wherein
U11=cos γ cos ψ+sin γ sin ψ sin θ
U12=sin ψ cos θ
U13=sin γ cos ψ-cos γ sin ψ sin θ
U21=-cos γ sin ψ+sin γ cos ψ sin θ
U22=cos ψ cos θ
U23=-sin γ sin ψ-cos γ cos ψ sin θ
U31=-sin γ cos θ
U32=sin θ
U33=cos γ cos θ
Step 3, the ship track set when being manipulated from ship's navigation are to the angle with geographical north orientation, the i.e. base course of ship
Angle ζ obtains the relational matrix of geographic coordinate system n Yu semi-fixed axes system d
And then obtain the transition matrix between carrier coordinate system b and semi-fixed axes system d
Step 4, athletic posture frame of reference peculiar to vessel utilize the direction cosine matrix in step 3The output of accelerometer
fb(k) and acceleration of gravity information g (k) it, is calculated on semi-fixed axes system d, when k-th of sampled point, the acceleration of ship
Spend informationThe acceleration information can be analyzed to the acceleration in semi-fixed axes system x-axisSemi-fixed axes system
Acceleration in y-axisAcceleration in semi-fixed axes system z-axis
Wherein: gdFor earth surface acceleration of gravity semi-fixed axes system projection；
Step 5. obtains step 4It, will as the thick heave acceleration of shipCarry out Fourier transformation
It obtainsTake so thatDominant frequency ω of the frequency values corresponding to maximum absolute value as wavep
WhereinIt indicates so that absolute value obtains ω corresponding to maximum value；
The thick heave acceleration for the ship that step 6. is obtained using step 4The dominant pilot of the wave obtained with step 5
Rate ωpMeasure the average height A of ocean wave motion:
Wherein m=1,2 ..., k；Indicate that ship when m-th of sampled point slightly heaves acceleration information；ωpIt indicates
The dominant frequency of wave in sampling time；It is obtained in m-th of sampled point by the process measurement of step 4 to step 5
And it is saved；
The dominant frequency ω for the wave that step 7. is obtained using step 5pThe average height of the ocean wave motion obtained with step 6
The noise variance σ of A and sensor2The optimal solution of heave filter cutoff frequency is calculatedFor
Wherein σ2It is the noise variance of sensor, it is considered that be constant.
Step 8. heaves filter H (k) and is filtered k-th of sampled point of acquisition to the thick heave acceleration of ship
It heaves displacement information p (k):
Heave filter H (k) described in step 8 is
WhereinFor the optimal solution for the cutoff frequency that step 7 obtains, h is the sampling period of athletic posture frame of reference；
It is necessary to stabilize for a period of time after introducing heave filter, stablizes the time depending on athletic posture frame of reference
Sampling period.For example, the sampling period is 0.01 second, it is proposed that stablize 3 minutes；Sampling period is 0.005 second, it is proposed that is stablized 2 minutes；
Sampling period is 0.1 second, it is proposed that is stablized 20 minutes.
So far the heave information for just having obtained ship reaches realization adaptive in the case where marine motor Status unknown
The requirement of accurate heave measurement.
The present invention realizes the adaptive heave measurement of athletic posture frame of reference, improves the operability of ship.
Be conducive to the landing of carrier-borne aircraft, the transmitting of shipborne weapon, aircushion vehicle log in, submarine shallow water is exercised, drilling platforms heave compensation dress
Install many aspects such as meter, ship replenishment.
The adaptive heave measurement method of athletic posture frame of reference that is suitable for can be improved grasping for ship
The property made, and be conducive to many aspects such as the design of drilling platforms heave compensator, ship supply.In order to verify the method
Beneficial effect, the heave movement of different frequency that the present invention is 1 meter for amplitude are emulated, and with mentioned in technical background
Two articles used in method compared, the table of result such as Fig. 2: (A group is " the instantaneous line in naval vessel under dynamic environment
Motion measuring method research " simulation result, B group is the emulation of " ship heave measurement " based on inertial navigation and without Time-Delay Filter
As a result, C group is simulation result of the invention).
Claims (5)
1. a kind of adaptive athletic posture frame of reference heaves measurement method, it is characterized in that:
Step 1 preheats athletic posture frame of reference, and acquires the output letter of gyro and accelerometer on three axis in real time
Number；
Step 2 utilizes the output signal of gyro and accelerometer, measurement ship real-time attitude information, the real-time attitude information
Including pitch angle θ, roll angle γ, yaw angle ψ, then it is made of posture information the relationship square of carrier coordinate system b Yu geographic coordinate system n
Battle array
Wherein
U11=cos γ cos ψ+sin γ sin ψ sin θ
U12=sin ψ cos θ
U13=sin γ cos ψ-cos γ sin ψ sin θ
U21=-cos γ sin ψ+sin γ cos ψ sin θ
U22=cos ψ cos θ
U23=-sin γ sin ψ-cos γ cos ψ sin θ
U31=-sin γ cos θ
U32=sin θ
U33=cos γ cos θ
Step 3, the ship track set when being manipulated from ship's navigation to the angle with geographical north orientation, i.e. the base course angle ζ of ship,
Obtain the relational matrix of geographic coordinate system n Yu semi-fixed axes system d
And then obtain the transition matrix i.e. direction cosine matrix between carrier coordinate system b and semi-fixed axes system d
Step 4, athletic posture frame of reference utilize the direction cosine matrix in step 3The output f of accelerometerb(k) and
Acceleration of gravity information g (k), be calculated on semi-fixed axes system d, k-th of sampled point when, ship acceleration informationThe acceleration information is decomposed into the acceleration in semi-fixed axes system x-axisAdd in semi-fixed axes system y-axis
SpeedAcceleration in semi-fixed axes system z-axis
Wherein: gdFor earth surface acceleration of gravity semi-fixed axes system projection；
Step 5. obtains step 4It, will as the thick heave acceleration of shipFourier transformation is carried out to obtainTake so thatDominant frequency ω of the frequency values corresponding to maximum absolute value as wavep
WhereinIt indicates so that absolute value obtains ω corresponding to maximum value；
The thick heave acceleration for the ship that step 6. is obtained using step 4The dominant frequency ω of the wave obtained with step 5p
Measure the average height A of ocean wave motion:
Wherein m=1,2 ..., k；Indicate that ship when m-th of sampled point slightly heaves acceleration information；ωpIndicate sampling
The dominant frequency of wave in time；It is obtained and is added by the process measurement of step 4 to step 5 in m-th of sampled point
To save；
The dominant frequency ω for the wave that step 7. is obtained using step 5pThe average height A of the ocean wave motion obtained with step 6 and
The noise variance σ of sensor2The optimal solution of heave filter cutoff frequency is calculatedFor
Wherein σ2It is the noise variance of sensor；
Step 8. heaves filter H (k) and is filtered the heave for obtaining k-th of sampled point to the thick heave acceleration of ship
Displacement information p (k):
2. adaptive athletic posture frame of reference according to claim 1 heaves measurement method, it is characterized in that described
Heaving filter H (k) is,
WhereinFor the optimal solution for the cutoff frequency that step 7 obtains, h is the sampling period of athletic posture frame of reference.
3. adaptive athletic posture frame of reference according to claim 1 or 2 heaves measurement method, it is characterized in that: adopting
The sample period is 0.01 second, is stablized 3 minutes after the preheating of athletic posture frame of reference.
4. adaptive athletic posture frame of reference according to claim 1 or 2 heaves measurement method, it is characterized in that: adopting
The sample period is 0.005 second, is stablized 2 minutes after the preheating of athletic posture frame of reference.
5. adaptive athletic posture frame of reference according to claim 1 or 2 heaves measurement method, it is characterized in that: adopting
The sample period is 0.1 second, is stablized 20 minutes after the preheating of athletic posture frame of reference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910612677.3A CN110319838A (en) | 2019-07-09 | 2019-07-09 | A kind of adaptive athletic posture frame of reference heave measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910612677.3A CN110319838A (en) | 2019-07-09 | 2019-07-09 | A kind of adaptive athletic posture frame of reference heave measurement method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110319838A true CN110319838A (en) | 2019-10-11 |
Family
ID=68121475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910612677.3A Pending CN110319838A (en) | 2019-07-09 | 2019-07-09 | A kind of adaptive athletic posture frame of reference heave measurement method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110319838A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110702110A (en) * | 2019-10-16 | 2020-01-17 | 江苏科技大学 | Ship heave motion measurement method based on unscented Kalman filtering |
| CN111337870A (en) * | 2020-04-17 | 2020-06-26 | 中国人民解放军海军装备部驻沈阳地区军事代表局驻大连地区第一军事代表室 | Three-axis electric field correction method based on Euler formula |
| CN111964670A (en) * | 2020-07-03 | 2020-11-20 | 华南理工大学 | Array accelerometer-based ship six-degree-of-freedom motion measurement method |
| CN112629540A (en) * | 2020-12-16 | 2021-04-09 | 北京航天控制仪器研究所 | Carrier attitude information-based heave measurement method |
| CN113175943A (en) * | 2021-04-21 | 2021-07-27 | 哈尔滨工程大学 | Strapdown inertial navigation heave measurement method adopting multiple low-pass filtering units |
| CN115900637A (en) * | 2022-10-26 | 2023-04-04 | 中国舰船研究设计中心 | Attitude measurement method of offshore nuclear power platform |
| CN117928528A (en) * | 2024-03-22 | 2024-04-26 | 山东科技大学 | Ship heave measurement method based on self-adaptive time-delay-free complementary band-pass filter |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4004460A (en) * | 1974-10-24 | 1977-01-25 | Shell Oil Company | Ship movement measurement |
| JP2005017032A (en) * | 2003-06-24 | 2005-01-20 | Hitachi Ltd | Method of analyzing target movement, and device |
| JP2006105635A (en) * | 2004-10-01 | 2006-04-20 | Japan Radio Co Ltd | Ship attitude angle measuring apparatus |
| CN101694390A (en) * | 2009-10-20 | 2010-04-14 | 哈尔滨工程大学 | Ship heave movement measurement method based on optical fiber inertia measurement system |
| CN101793521A (en) * | 2010-01-06 | 2010-08-04 | 哈尔滨工程大学 | Method for measuring swaying and surging information of ship based on optical fiber gyroscope inertial measurement system |
| US20100230370A1 (en) * | 2008-05-21 | 2010-09-16 | Klaus Schneider | Crane control with active heave compensation |
| CN102768043A (en) * | 2012-06-14 | 2012-11-07 | 辽宁工程技术大学 | Integrated attitude determination method without external observed quantity for modulated strapdown system |
| CN103115625A (en) * | 2013-02-28 | 2013-05-22 | 中国海洋石油总公司 | Method and system for measuring transverse and longitudinal oscillating and heaving movement of floating body |
| CN107357170A (en) * | 2017-07-14 | 2017-11-17 | 山东大学 | A kind of Wave Model Forecasting Methodology based on active disturbance rejection state observer |
| CN109373983A (en) * | 2018-11-19 | 2019-02-22 | 华南农业大学 | A kind of method and the self-adjusting unmanned boat of posture detecting wave traveling wave parameter |
| CN109737955A (en) * | 2018-12-14 | 2019-05-10 | 南京理工大学 | A kind of attitude prediction method of wave compensation system |
-
2019
- 2019-07-09 CN CN201910612677.3A patent/CN110319838A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4004460A (en) * | 1974-10-24 | 1977-01-25 | Shell Oil Company | Ship movement measurement |
| JP2005017032A (en) * | 2003-06-24 | 2005-01-20 | Hitachi Ltd | Method of analyzing target movement, and device |
| JP2006105635A (en) * | 2004-10-01 | 2006-04-20 | Japan Radio Co Ltd | Ship attitude angle measuring apparatus |
| US20100230370A1 (en) * | 2008-05-21 | 2010-09-16 | Klaus Schneider | Crane control with active heave compensation |
| CN101694390A (en) * | 2009-10-20 | 2010-04-14 | 哈尔滨工程大学 | Ship heave movement measurement method based on optical fiber inertia measurement system |
| CN101793521A (en) * | 2010-01-06 | 2010-08-04 | 哈尔滨工程大学 | Method for measuring swaying and surging information of ship based on optical fiber gyroscope inertial measurement system |
| CN102768043A (en) * | 2012-06-14 | 2012-11-07 | 辽宁工程技术大学 | Integrated attitude determination method without external observed quantity for modulated strapdown system |
| CN103115625A (en) * | 2013-02-28 | 2013-05-22 | 中国海洋石油总公司 | Method and system for measuring transverse and longitudinal oscillating and heaving movement of floating body |
| CN107357170A (en) * | 2017-07-14 | 2017-11-17 | 山东大学 | A kind of Wave Model Forecasting Methodology based on active disturbance rejection state observer |
| CN109373983A (en) * | 2018-11-19 | 2019-02-22 | 华南农业大学 | A kind of method and the self-adjusting unmanned boat of posture detecting wave traveling wave parameter |
| CN109737955A (en) * | 2018-12-14 | 2019-05-10 | 南京理工大学 | A kind of attitude prediction method of wave compensation system |
Non-Patent Citations (4)
| Title |
|---|
| NING XIANLIANG 等: "The heave motion estimation for active heave compensation system in offshore crane", 《2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION》 * |
| 宁献良: "船用起重机主动式波浪补偿***关键技术研究", 《中国优秀博硕士学位论文全文数据库（硕士） 工程科技Ⅱ辑》 * |
| 陈广 等: "舰船瞬时垂向线运动测量技术", 《第十六届中国科协年会——分8绿色造船与安全航运论坛论文集》 * |
| 陈琦 等: "用于船舶升沉运动估算的自适应数字滤波器", 《中国惯性技术学报》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110702110A (en) * | 2019-10-16 | 2020-01-17 | 江苏科技大学 | Ship heave motion measurement method based on unscented Kalman filtering |
| CN111337870A (en) * | 2020-04-17 | 2020-06-26 | 中国人民解放军海军装备部驻沈阳地区军事代表局驻大连地区第一军事代表室 | Three-axis electric field correction method based on Euler formula |
| CN111337870B (en) * | 2020-04-17 | 2021-07-06 | 中国人民解放军海军装备部驻沈阳地区军事代表局驻大连地区第一军事代表室 | Three-axis electric field correction method based on Euler formula |
| CN111964670A (en) * | 2020-07-03 | 2020-11-20 | 华南理工大学 | Array accelerometer-based ship six-degree-of-freedom motion measurement method |
| CN112629540A (en) * | 2020-12-16 | 2021-04-09 | 北京航天控制仪器研究所 | Carrier attitude information-based heave measurement method |
| CN112629540B (en) * | 2020-12-16 | 2024-02-09 | 北京航天控制仪器研究所 | Heave measurement method based on carrier attitude information |
| CN113175943A (en) * | 2021-04-21 | 2021-07-27 | 哈尔滨工程大学 | Strapdown inertial navigation heave measurement method adopting multiple low-pass filtering units |
| WO2022222939A1 (en) * | 2021-04-21 | 2022-10-27 | 哈尔滨工程大学 | Strapdown inertial navigation heave measurement method using multiple low-pass filtering units |
| CN115900637A (en) * | 2022-10-26 | 2023-04-04 | 中国舰船研究设计中心 | Attitude measurement method of offshore nuclear power platform |
| CN117928528A (en) * | 2024-03-22 | 2024-04-26 | 山东科技大学 | Ship heave measurement method based on self-adaptive time-delay-free complementary band-pass filter |
| CN117928528B (en) * | 2024-03-22 | 2024-05-31 | 山东科技大学 | Ship heave measurement method based on self-adaptive time-delay-free complementary band-pass filter |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110319838A (en) | A kind of adaptive athletic posture frame of reference heave measurement method | |
| CN105823480B (en) | Underwater moving target location algorithm based on single beacon | |
| CN103245360B (en) | Carrier-borne aircraft rotation type strapdown inertial navigation system Alignment Method under swaying base | |
| CN109443379A (en) | A kind of underwater anti-shake dynamic alignment methods of the SINS/DVL of deep-sea submariner device | |
| CN109425339A (en) | A kind of ship heave error compensating method based on the considerations of inertial technology lever arm effect | |
| CN100541132C (en) | Big misalignment is gone ashore with fiber-optic gyroscope strapdown boat appearance system mooring extractive alignment methods | |
| CN106643723B (en) | A kind of unmanned boat safe navigation dead reckoning method | |
| CN105841698B (en) | A kind of AUV rudder angle precision real time measuring systems without zeroing | |
| CN102768043B (en) | Integrated attitude determination method without external observed quantity for modulated strapdown system | |
| CN103148868B (en) | Based on the combination alignment methods that Doppler log Department of Geography range rate error is estimated under at the uniform velocity sailing through to | |
| CN108871379B (en) | DVL speed measurement error online calibration method | |
| CN102168978B (en) | Marine inertial navigation system swing pedestal open loop aligning method | |
| CN107128454A (en) | A kind of hydrofoil catamaran Attitude estimation method | |
| CN110887463A (en) | Method and system for detecting fluctuation amplitude of sea waves based on inertial sensor | |
| CN104316025A (en) | System for estimating height of sea wave based on attitude information of ship | |
| CN109443356A (en) | A kind of the unmanned boat Position And Velocity estimation structure and design method of the noise containing measurement | |
| CN103017787A (en) | Initial alignment method suitable for rocking base | |
| CN106767928A (en) | A kind of self adaptation fast transfer alignment method | |
| WO2022222939A1 (en) | Strapdown inertial navigation heave measurement method using multiple low-pass filtering units | |
| CN105930595A (en) | Ship sway isolation degree static testing method based on tracking reality target | |
| CN109974695A (en) | The robust adaptive filtering method of surface ship navigation system based on the space Krein | |
| CN112965363A (en) | Ship dynamic positioning system based on exogenous Kalman filtering | |
| CN110793507B (en) | Sea wave inversion method based on unmanned ship motion data | |
| CN110887506A (en) | Motion amplitude detection method and system of inertial sensor influenced by sea waves | |
| CN112611382A (en) | Strapdown inertial navigation system heave measurement method with phase compensation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191011 |